<?xml version="1.0" encoding="utf-8"?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:drive="http://schemas.microsoft.com/robotics/2006/05/drive.html" 
    >

	<CreateServiceList>


		<!--Start the I2C HardwareService-->
		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/i2chardware.html</dssp:Contract>
		</ServiceRecordType>

    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23hardware.html</dssp:Contract>
    </ServiceRecordType>

		<!--Start the Generic (hardware agnostic) drive service-->
		<ServiceRecordType>
			<dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
			<dssp:PartnerList>
				<!--Initial state partner-->
				<dssp:Partner>
					<dssp:Service>http://localhost/mountpoint/Samples/Platforms/Devantech/MD23Services/MD23Drive.Config.xml</dssp:Service>
					<dssp:Name>dssp:StateService</dssp:Name>
				</dssp:Partner>

				<dssp:Partner>
					<dssp:Name>drive:LeftMotor</dssp:Name>
				</dssp:Partner>

				<dssp:Partner>
					<dssp:Name>drive:RightMotor</dssp:Name>
				</dssp:Partner>

				<dssp:Partner>
					<dssp:Name>drive:LeftEncoder</dssp:Name>
				</dssp:Partner>

				<dssp:Partner>
					<dssp:Name>drive:RightEncoder</dssp:Name>
				</dssp:Partner>

			</dssp:PartnerList>
		</ServiceRecordType>

		<!--The following section creates the services that the generic drive requires as partners -->

		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23motor.html</dssp:Contract>
			<Name>drive:LeftMotor</Name>
		</ServiceRecordType>

		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23motor.html</dssp:Contract>
			<Name>drive:RightMotor</Name>
		</ServiceRecordType>

		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23encoder.html</dssp:Contract>
			<Name>drive:LeftEncoder</Name>
		</ServiceRecordType>

		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23encoder.html</dssp:Contract>
			<Name>drive:RightEncoder</Name>
		</ServiceRecordType>
		
		<ServiceRecordType>
			<dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23battery.html</dssp:Contract>
		</ServiceRecordType>

	</CreateServiceList>

</Manifest>
